[mergify]

CB7 doesn't have standard digital inputs anymore. Instead, indices 0-7 go to CO8-CO15, while indices 8-15 keep going to CO0-CO7.

This requires URCL master at the moment, since it uses the accessors added in UniversalRobots/Universal_Robots_Client_Library@1c78952

Also, this has only been manually tested. Ideally, we would test things in CI against a CB7 robot, which could be added after #1910 has been merged. Hence, this is currently a draft, though the functionality is there and will probably stay like that.

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This is an automatic backport of pull request #2047 done by Mergify.

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Changes to be committed:
	modified:   ur_robot_driver/src/hardware_interface.cpp

Unmerged paths:
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	deleted by us:   ur_robot_driver/doc/usage/utility_controllers.rst
	both modified:   ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp

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PR Summary

Medium Risk
Incorrect control-box detection or index mapping could drive the wrong physical outputs on CB7; change is limited to async digital output writes and depends on URCL’s getControlBoxType().

Overview
Fixes CB7 control box digital output commands so GPIO indices 0–7 (previously sent as standard DOUT) are written via sendConfigurableDigitalOutput(i + 8, …), mapping to CO8–CO15, while older boxes still use sendStandardDigitalOutput. The hardware interface stores control_box_type_ from URCL at configure time to choose the path.

Adds utility_controllers.rst documentation for utility controllers, including a CB7 vs CB3/CB5 table for how ~/set_io and ~/io_states indices relate to physical outputs.

^{Reviewed by Cursor Bugbot for commit d2fbcea. Bugbot is set up for automated code reviews on this repo. Configure here.}

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